package com.kcl.dfss.xcamera;

public class XCamHost {
	float velocity;		// (velocityAtImageTime) meter per second; minimum range -20 to 100 m/s (-72 to 360 km/h); minimum resolution 0.1 m/s
    float yawrate;		// (yawRateAtImageTime) radian per second; minimum range ?/4*pi/s (?5?s); minimum resolution 1/1800*pi/s (0.1?s)
    int blinker;		// 0 == OFF, -1 == left, +1 == right, 2 == warning
    int brake;			// 0 == NO BRAKE, 1 == BRAKE
    float steering;		// radian, positive == clock wise, negative == anti clock wise
    int wiper;			// 0 == OFF, > 0 means wiper is on, lower means slower
    int light;			// Bit 0 == OFF, Bit 1 == automatic, Bit 2 == low beam, Bit 3 == high beam, Bit 4 == fog lamp
    float  pitch;		// radian, SAE positive upward; range ?/18*pi (?0?; min resolution 1/1800*pi (0.1?
    float  roll;			// radian, SAE positive to the right; range ?/18*pi (?0?; min resolution 1/1800*pi (0.1?
    float  time_difference;	// (loopTimeSeconds) time difference to previous call
    double frameTime;	///< timestamp of the last image from the computer clock, in seconds
    int frameCounter;	// hardware frame counter if available (used for CAN messages)
    
    float tx;		//translation in x direction in meters on the gp from t-1 to t
    float ty;		//translation in y direction in meters on the gp from t-1 to t
    float angle;	//angle in radians after the motion
    float cosAngle; //prepared rotation matrix elements
    float sinAngle; //prepared rotation matrix elements
    
    XCamGPS gps_position;	// see gps_Tag struct definition
}
